WO2019216250A1 - Système de capteurs - Google Patents

Système de capteurs Download PDF

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Publication number
WO2019216250A1
WO2019216250A1 PCT/JP2019/017730 JP2019017730W WO2019216250A1 WO 2019216250 A1 WO2019216250 A1 WO 2019216250A1 JP 2019017730 W JP2019017730 W JP 2019017730W WO 2019216250 A1 WO2019216250 A1 WO 2019216250A1
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WO
WIPO (PCT)
Prior art keywords
data
sensor
unit
workpiece
line
Prior art date
Application number
PCT/JP2019/017730
Other languages
English (en)
Japanese (ja)
Inventor
典大 蓬郷
清司 今井
雄介 飯田
祐輔 柴▲崎▼
Original Assignee
オムロン株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by オムロン株式会社 filed Critical オムロン株式会社
Priority to US17/043,641 priority Critical patent/US11774464B2/en
Priority to CN201980025250.1A priority patent/CN111971719B/zh
Priority to EP19800792.4A priority patent/EP3792892B1/fr
Publication of WO2019216250A1 publication Critical patent/WO2019216250A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
    • G01P3/68—Devices characterised by the determination of the time taken to traverse a fixed distance using optical means, i.e. using infrared, visible, or ultraviolet light
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D9/00—Recording measured values
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
    • G01P3/80—Devices characterised by the determination of the time taken to traverse a fixed distance using auto-correlation or cross-correlation detection means
    • G01P3/806—Devices characterised by the determination of the time taken to traverse a fixed distance using auto-correlation or cross-correlation detection means in devices of the type to be classified in G01P3/68
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C15/00—Arrangements characterised by the use of multiplexing for the transmission of a plurality of signals over a common path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged

Definitions

  • This disclosure relates to a sensor system.
  • a plurality of sensors are arranged along a line to measure the presence or absence of a workpiece conveyed on the line.
  • Data measured by a plurality of sensors may be acquired by a plurality of slave units, transferred to a master unit, and collected in a control device such as a PLC (Programmable Logic Controller) connected to the master unit.
  • a control device such as a PLC (Programmable Logic Controller) connected to the master unit.
  • Patent Document 1 listed below describes a sensor system including a plurality of slave units and a communication device that transmits information received from each slave unit to a control device.
  • Each slave unit transmits detection information such as sensing data to the communication device after a standby time determined for each slave unit has elapsed with a synchronization signal transmitted from any of the slave units as a starting point.
  • the standby time of each slave unit is determined to be different from the standby time of other slave units.
  • the present invention provides a sensor system that can determine a change in the state of a workpiece that has occurred during the conveyance process.
  • a sensor system includes a plurality of sensors that are arranged along a line and that measure data indicating a passing state of a workpiece conveyed on the line, and are connected to each of the plurality of sensors.
  • a plurality of slave units that acquire data measured by the master unit and a master unit connected to the plurality of slave units, and the master unit stores the data and information related to the timing at which the data was measured in association with each other.
  • a determination unit that compares data transmitted from two or more slave units among a plurality of slave units using information related to timing, and determines a change in the state of the workpiece.
  • the data measured by a plurality of sensors and the information related to the timing at which the data was measured are stored in association with each other, so that the data measured by different sensors can be in any context. It becomes clear whether the measurement has been made, and a change in the state of the workpiece conveyed on the line can be determined.
  • the determination unit calculates the timing at which the workpiece should pass through the detection ranges of the plurality of sensors based on the conveyance speed of the line and the arrangement of the plurality of sensors, and is disposed upstream of the line among the plurality of sensors.
  • the positional deviation of the workpiece may be determined based on a comparison between data measured by the sensor and data measured at a timing to pass by a sensor arranged downstream of the line among the plurality of sensors.
  • the data measured by the sensor arranged upstream of the line and the data measured by the sensor arranged downstream of the line are compared in consideration of the time delay due to the workpiece conveyance. Thus, it can be determined whether or not the position of the workpiece has changed during the conveyance process.
  • the determination unit is configured to determine a workpiece conveyance speed based on a difference between a period in which the workpiece is detected by the sensor arranged upstream of the line and a period in which the workpiece is detected by the sensor arranged downstream of the line. You may determine the change of.
  • the workpiece conveyance speed is increased. It can be determined whether it has changed.
  • the determination unit determines whether the workpiece is dropped based on the correspondence between the data measured by the sensor arranged upstream of the line and the data measured by the sensor arranged downstream of the line. Also good.
  • the workpiece is dropped. Can be determined.
  • the storage unit includes learning that includes data measured by a sensor arranged upstream of the line, data measured by a sensor arranged downstream of the line, and information indicating a change in the state of the workpiece.
  • the learned model generated by machine learning using the data for the data is stored, and the determination unit is measured by at least the data measured by the sensor arranged upstream of the line and the sensor arranged downstream of the line.
  • the change in the state of the workpiece may be determined based on the output of the learned model.
  • the master unit may include a timer, and the storage unit may store the time measured by the timer and the data in association with each other.
  • the timer only in the master unit without providing the timer in the plurality of slave units, the data measured by the plurality of sensors and the timing at which the data is measured can be obtained with a simple configuration. Can be stored in association with each other.
  • the master unit has a trigger transmission unit that transmits a trigger signal serving as a time reference to a plurality of slave units, and each of the plurality of slave units has a timer and receives a trigger signal.
  • the elapsed time from the time may be measured by a timer, the elapsed time may be transmitted to the master unit together with the data, and the storage unit may store the elapsed time and the data in association with each other.
  • each of the plurality of slave units has a timer that synchronizes between the plurality of slave units, and transmits the time measured by the timer to the master unit together with the data.
  • the data may be stored in association with each other.
  • the master unit includes a receiving unit that receives a signal serving as a time reference from an external device, and the storage unit stores the time calculated based on the signal serving as the time reference and data. May be.
  • the master unit may further include a correction unit that corrects timing-related information based on at least one of the response time of the sensor and the transmission delay time from the slave unit to the master unit.
  • information related to the timing at which data is measured by a plurality of sensors is stored more accurately, and changes in the state of the workpiece conveyed on the line can be determined with higher accuracy.
  • the data is time-series data including a rising waveform or a falling waveform corresponding to the passing state of the workpiece conveyed on the line
  • the master unit is composed of two or more slave units among a plurality of slave units.
  • a correspondence unit is further provided for associating rising waveforms or falling waveforms acquired by two or more slave units with respect to the same work on the basis of the rising waveform interval or the falling waveform interval included in the acquired time-series data. Also good.
  • the corresponding unit includes the rising waveform interval or falling waveform interval acquired by the first slave unit among the plurality of slave units, and the rising waveform acquired by the second slave unit among the plurality of slave units.
  • the average value of the difference between the rising waveforms or the falling waveforms measured by the two sensors is used as the evaluation value, so that the line conveyance speed is temporarily decreased or increased. Even in this case, the time series data measured by the two sensors can be appropriately associated.
  • the corresponding unit is a rising edge acquired by the first slave unit. Acquired by the first slave unit so that the average value of the difference between the interval of the waveform or the interval of the falling waveform and the interval of the rising waveform or the interval of the falling waveform acquired by the second slave unit thereafter becomes small.
  • the rising waveform or the falling waveform may be associated with the rising waveform or the falling waveform acquired by the second slave unit.
  • the calculation load can be reduced by limiting the combination of average values to be calculated according to the arrangement of a plurality of sensors.
  • the corresponding unit acquires the rising waveform or the falling waveform acquired by the first slave unit and the second slave unit from among the combinations in which the number of terms for calculating the average value is a predetermined number or more. Correlation with the rising waveform or falling waveform may be performed.
  • the corresponding unit increases the rising waveform or falling waveform acquired by the first slave unit and the rising waveform acquired by the second slave unit, or the number of terms for calculating the average value. Correlation with a falling waveform may be performed.
  • the correspondence unit may associate the rising waveform or the falling waveform when the determination unit continues to determine that the state of the workpiece has changed over a predetermined period.
  • the rising waveform association since the rising waveform association is inappropriate, when the line continues to be erroneously determined to be abnormal, the rising waveform association can be automatically corrected, It will be possible to correctly determine the state of the line.
  • the corresponding unit may associate the rising waveform or the falling waveform with respect to a selected part of the plurality of slave units.
  • association of data that is not necessarily required can be omitted, and the processing load can be reduced.
  • the master unit may further include a display unit that displays that the association by the corresponding unit is being executed.
  • the data is time-series data including a rising waveform or a falling waveform corresponding to the passing state of the workpiece conveyed on the line
  • the determination unit is acquired by the first slave unit among the plurality of slave units.
  • the rising waveform acquired by the first slave unit by comparing one of the time-series data and the time-series data acquired by the second slave unit among the plurality of slave units with a predetermined time shift
  • the change in the state of the workpiece may be determined based on the time difference between the falling waveform and the rising waveform or the falling waveform acquired by the second slave unit.
  • the time series data measured by the two sensors is appropriately compared to detect a data shift. can do.
  • the determination unit obtains the rising edge acquired by the first slave unit. If there is no rising waveform or falling waveform acquired by the corresponding second slave unit with respect to the waveform or the falling waveform, it may be determined that the workpiece has dropped from the line.
  • the workpiece is detected by the sensor arranged upstream of the line, but the case where the workpiece is not detected by the sensor arranged downstream of the line is specified, and it is determined that the workpiece has dropped out. can do.
  • the determination unit obtains the rising edge acquired by the second slave unit. If there is no rising waveform or falling waveform acquired by the corresponding first slave unit with respect to the waveform or the falling waveform, it may be determined that the workpiece has entered the line.
  • the workpiece is not detected by the sensor arranged upstream of the line
  • the case where the workpiece is detected by the sensor arranged downstream of the line is specified, and the workpiece is mixed. Can be determined.
  • the determination unit obtains one of time-series data acquired by the first slave unit among the plurality of slave units and time-series data acquired by the second slave unit among the plurality of slave units.
  • Each time-series data may be divided into a plurality of sections so that a predetermined time shift is performed and a rising waveform or falling waveform of 1 or less is included.
  • the determination unit includes a rising waveform or a falling waveform acquired by the first slave unit included in the first interval and a rising edge acquired by the second slave unit included in the first interval among the plurality of intervals.
  • the first time difference from the waveform or the falling waveform and the rising waveform or falling waveform acquired by the first slave unit included in the second interval among the plurality of intervals, and acquired by the second slave unit included in the second interval A second time difference between the rising waveform and the falling waveform thus calculated may be calculated, and a change in the state of the workpiece may be determined based on the difference between the first time difference and the second time difference.
  • the time series data measured by the two sensors is appropriately compared to detect a data shift. can do.
  • the determination unit shifts the time-series data acquired by three or more slave units arranged in order along the line among the plurality of slave units, compares the time-series data by a predetermined time, and changes the state of the workpiece
  • the abnormal section of the line may be determined based on the section in which it is determined that the work state has changed.
  • a sensor system that can determine a change in the state of a workpiece that has occurred in the course of conveyance.
  • FIG. 1 is a diagram showing an outline of a sensor system 1 according to an embodiment of the present invention.
  • the sensor system 1 includes a master unit 10, a first slave unit 20a, a second slave unit 20b, a third slave unit 20c, a first sensor 30a, a second sensor 30b, a third sensor 30c, and a PLC 40.
  • the 1st sensor 30a, the 2nd sensor 30b, and the 3rd sensor 30c are arrange
  • the first slave unit 20a, the second slave unit 20b, and the third slave unit 20c are connected to a plurality of sensors, and correspond to a plurality of slave units that acquire data measured by the plurality of sensors. More specifically, the first slave unit 20a is connected to the first sensor 30a, the second slave unit 20b is connected to the second sensor 30b, and the third slave unit 20c is connected to the third sensor 30c.
  • the PLC 40 corresponds to a control device.
  • the master unit 10 corresponds to a master unit connected to a plurality of slave units and a control device.
  • the first slave unit 20a, the second slave unit 20b, and the third slave unit 20c are collectively referred to as the slave unit 20, and the first sensor 30a, the second sensor 30b, and the third sensor 30c are collectively referred to as the sensor 30. .
  • the configuration of the sensor system 1 according to the present embodiment is an example, and the number of the plurality of sensors and the number of the plurality of slave units included in the sensor system 1 are arbitrary. Further, the control device is not necessarily the PLC 40.
  • the master unit 10 may be connected to the PLC 40 via a communication network such as a LAN (Local Area Network).
  • the slave unit 20 is physically and electrically connected to the master unit 10.
  • the master unit 10 stores the information received from the slave unit 20 in the storage unit, and transmits the stored information to the PLC 40. Therefore, the data acquired by the slave unit 20 is unified by the master unit 10 and transmitted to the PLC 40.
  • a determination signal and detection information are transmitted from the slave unit 20 to the master unit 10.
  • the determination signal is a signal indicating a determination result regarding the work determined by the slave unit 20 based on the data measured by the sensor 30.
  • the determination signal may be an on signal or an off signal obtained by comparing the received light amount measured by the sensor 30 with a threshold value by the slave unit 20.
  • the detection information is a detection value obtained by the detection operation of the slave unit 20.
  • the detection operation may be a light projection and light reception operation, and the detection information may be a received light amount.
  • the slave unit 20 may be attached to the side surface of the master unit 10.
  • parallel communication or serial communication may be used. That is, the master unit 10 and the slave unit 20 may be physically connected by a serial transmission path and a parallel transmission path.
  • the determination signal may be transmitted from the slave unit 20 to the master unit 10 on the parallel transmission path, and the detection information may be transmitted from the slave unit 20 to the master unit 10 on the serial transmission path.
  • FIG. 2 is a diagram showing functional blocks of the master unit 10 according to the present embodiment.
  • the master unit 10 includes an acquisition unit 11, a timer 12, a correction unit 13, a storage unit 14, a determination unit 15, a display unit 16, and a communication unit 17.
  • the acquisition unit 11 acquires data from the plurality of slave units 20.
  • the acquisition unit 11 acquires a determination signal indicating the passing state of the workpiece from the slave unit 20 through the parallel transmission path, or acquires detection information measured by the plurality of sensors 30 from the slave unit 20 through the serial transmission path. Good.
  • the timer 12 measures time, and may be, for example, an electronic timepiece that measures time based on a predetermined frequency.
  • the timer 12 may measure, for example, year, month, day, hour, minute, and second in milliseconds.
  • the timer 12 may measure the elapsed time from the reference time.
  • the correction unit 13 corrects the information regarding the timing at which the data is measured based on at least one of the response times of the plurality of sensors 30 and the transmission delay times from the plurality of slave units 20 to the master unit 10.
  • the timing information may be any information as long as it represents the timing at which the data was measured, may be information that absolutely represents the time at which the data was measured, or data It may be information that relatively represents the time when was measured.
  • a slight time lag occurs between the time when the plurality of sensors 30 perform the detection operation and the time when the passage of the workpiece is detected and the detection information is output. Also, a slight time lag occurs when data is transmitted from the plurality of slave units 20 to the master unit 10.
  • the correction unit 13 considers those time lags so that the information related to the timing at which the data is measured can be recorded more accurately from the time measured by the timer 12 and the response times of the plurality of sensors 30 and the plurality of slaves. At least one of the transmission delay times from the unit 20 to the master unit 10 may be subtracted. Thereby, the information regarding the timing when the data was measured by the plurality of sensors 30 is more accurately stored, and the change in the state of the workpiece conveyed on the line L can be determined with higher accuracy.
  • the correction unit 13 may adjust the response times according to the type of the sensor 30 connected to the slave unit 20. Further, since the transmission delay time from the plurality of slave units 20 to the master unit 10 becomes longer as the slave unit 20 is farther from the master unit 10, it depends on which stage the slave unit 20 that transmitted data is connected. The transmission delay time may be adjusted.
  • the storage unit 14 stores data acquired from the plurality of slave units 20 and information related to timings at which the data is measured by the plurality of sensors 30 in association with each other.
  • data acquired from the plurality of slave units 20 is represented as sensing data 14a
  • timing at which the data is measured by the plurality of sensors 30 is represented as measurement timing 14b.
  • the storage unit 14 may store the time measured by the timer 12 in association with the sensing data 14a. Note that the storage unit 14 may store the time when the time measured by the timer 12 is corrected by the correction unit 13 in association with the sensing data 14a. As described above, by providing the timer 12 only in the master unit 10 without providing the timer in the plurality of slave units 20, the data measured by the plurality of sensors 30 and the data are measured with a simple configuration. Information related to timing can be stored in association with each other.
  • the determination unit 15 compares data transmitted from two or more slave units 20 among the plurality of slave units 20 using information on timings at which the data is measured, and determines a change in the state of the workpiece. . More specifically, the data measured from one slave unit 20 and the data transmitted from the other slave unit 20 are compared with respect to the measurement timing, and the data measured earlier and the data measured later are compared. Detecting the deviation. The determination unit 15 calculates the timing at which the workpiece should pass through the detection ranges of the plurality of sensors 30 based on the conveyance speed of the line L and the arrangement of the plurality of sensors 30, and the data measured earlier and later are measured. A normal deviation from the data may be calculated, and the deviation of the workpiece may be determined by comparing the normal deviation with the actually measured data deviation.
  • the data measured by the plurality of sensors 30 and the information related to the timing at which the data was measured are stored in association with each other, so that the data measured by different sensors can be measured in any context. It has become clear that it has been done, and it is possible to determine a change in the state of the workpiece conveyed on the line L. Therefore, when the state of the workpiece changes during the conveyance process, an abnormality relating to the line L can be detected.
  • the storage unit 14 includes learning data including data measured by a sensor arranged upstream of the line L, data measured by a sensor arranged downstream of the line L, and information indicating a change in the state of the workpiece.
  • a learned model 14c generated by machine learning using data may be stored.
  • the learning data may be stored in the master unit 10 or may be stored in another device, and the process of generating the learned model may be executed by the master unit 10 or others. May be executed by the apparatus.
  • the learning model is a neural network
  • the master unit 10 or another device inputs the input data included in the learning data to the neural network, and based on the difference between the output and the label data included in the learning data.
  • the weight of the neural network may be updated by the error back propagation method.
  • the learning model is not limited to a neural network, and may be a regression model or a decision tree, and machine learning may be executed by an arbitrary algorithm.
  • the determination unit 15 inputs at least the data measured by the sensor arranged upstream of the line L and the data measured by the sensor arranged downstream of the line L to the learned model 14c, and learns the model
  • the change in the state of the workpiece may be determined based on the output of 14c.
  • the learned model 14c may determine not only that the state of the workpiece has changed but also the type of state change such as displacement or dropout of the workpiece.
  • the conveyance speed of the line L and the arrangement of the plurality of sensors 30 are not necessarily known, it is possible to determine whether the state of the workpiece has changed by the learned model 14c generated based on the actually measured data. it can.
  • the display unit 16 displays the determination result by the determination unit 15.
  • the display unit 16 may be, for example, a binary lamp that indicates the presence or absence of an abnormality related to the line L, and may be a liquid crystal display device that displays the determination result by the determination unit 15 in detail.
  • the communication unit 17 is an interface that performs communication with the PLC 40.
  • the communication unit 17 may perform communication with an external device other than the PLC 40.
  • FIG. 3 is a diagram showing a physical configuration of the sensor system 1 according to the present embodiment.
  • the master unit 10 includes input / output connectors 101 and 102 used for connection to the PLC 40, a connection connector 106 used for connection to the slave unit 20, and a power input connector.
  • the master unit 10 includes an MPU (Micro Processing Unit) 110, a communication ASIC (Application Specific Integrated Circuit) 112, a parallel communication circuit 116, a serial communication circuit 118, and a power supply circuit.
  • MPU Micro Processing Unit
  • ASIC Application Specific Integrated Circuit
  • the MPU 110 operates so as to control and execute all processes in the master unit 10.
  • the communication ASIC 112 manages communication with the PLC 40.
  • the parallel communication circuit 116 is used for parallel communication between the master unit 10 and the slave unit 20.
  • the serial communication circuit 118 is used for serial communication between the master unit 10 and the slave unit 20.
  • the slave unit 20 is provided with connectors 304 and 306 for connection with the master unit 10 or other slave units 20 on both side wall portions.
  • a plurality of slave units 20 can be connected to the master unit 10 in a row. Signals from the plurality of slave units 20 are transmitted to the adjacent slave units 20 and transmitted to the master unit 10.
  • Windows for both sides of the slave unit 20 are provided with windows for optical communication by infrared rays.
  • the plurality of slave units 20 are connected one by one using the connection connectors 304 and 306, they are arranged in a row.
  • the communication window enables bidirectional optical communication using infrared rays between adjacent slave units 20.
  • the slave unit 20 has various processing functions realized by a CPU (Central Processing Unit) 400 and various processing functions realized by a dedicated circuit.
  • a CPU Central Processing Unit
  • the CPU 400 controls the light projection control unit 403 to emit infrared rays from the light emitting element (LED) 401.
  • a signal generated when the light receiving element (PD) 402 receives light is amplified through the amplifier circuit 404, converted into a digital signal through the A / D converter 405, and taken into the CPU 400.
  • the CPU 400 transmits the received light data, that is, the received light amount as it is to the master unit 10 as detection information. Further, the CPU 400 transmits an on signal or an off signal obtained by determining whether or not the amount of received light is larger than a preset threshold value as a determination signal to the master unit 10.
  • the CPU 400 controls the left and right light projecting circuits 411 and 413 to emit infrared rays from the left and right communication light emitting elements (LEDs) 407 and 409 to the adjacent slave unit 20.
  • LEDs light emitting elements
  • Infrared rays coming from the adjacent left and right slave units 20 are received by the left and right light receiving elements (PD) 406 and 408, and then arrive at the CPU 400 via the light receiving circuits 410 and 412.
  • the CPU 400 performs optical communication with the left and right adjacent slave units 20 by controlling transmission / reception signals based on a predetermined protocol.
  • the light receiving element 406, the communication light emitting element 409, the light receiving circuit 410, and the light projecting circuit 413 are used for transmitting and receiving a synchronization signal for preventing mutual interference between the slave units 20. Specifically, in each slave unit 20, the light receiving circuit 410 and the light projecting circuit 413 are directly connected. With this configuration, the received synchronization signal is promptly transmitted from the communication light emitting element 409 to another adjacent slave unit 20 via the light projecting circuit 413 without being subjected to delay processing by the CPU 400.
  • CPU 400 further controls lighting of display unit 414. Further, the CPU 400 processes a signal from the setting switch 415. Various data necessary for the operation of the CPU 400 is stored in a recording medium such as an EEPROM (ElectricallyrErasable Programmable Read Only Memory) 416. The signal obtained from the reset unit 417 is sent to the CPU 400, and the measurement control is reset. A reference clock is input from the oscillator (OSC) 418 to the CPU 400.
  • OSC oscillator
  • the output circuit 419 performs transmission processing of a determination signal obtained by comparing the amount of received light with a threshold value. As described above, in the present embodiment, the determination signal is transmitted toward the master unit 10 by parallel communication.
  • the transmission path for parallel communication is a transmission path in which the master unit 10 and each slave unit 20 are individually connected.
  • each of the plurality of slave units 20 is connected to the master unit 10 by separate parallel communication lines.
  • the parallel communication line that connects the master unit 10 and the slave unit 20 other than the slave unit 20 adjacent to the master unit 10 can pass through the other slave units 20.
  • the serial communication driver 420 performs processing for receiving commands and the like transmitted from the master unit 10 and processing for transmitting detection information (amount of received light).
  • the RS-422 protocol is used for serial communication.
  • the RS-485 protocol may be used for serial communication.
  • the serial communication transmission line is a transmission line to which the master unit 10 and all the slave units 20 are connected. That is, all the slave units 20 are connected to the master unit 10 so as to be able to transmit signals in a bus format via the serial communication line.
  • FIG. 4 is a diagram illustrating a first example of data measured by the sensor system 1 according to the present embodiment.
  • data measured by the first sensor 30a, the second sensor 30b, and the third sensor 30c are shown in chronological order.
  • the first sensor 30a is a sensor arranged on the most upstream side of the line L among these three sensors
  • the third sensor 30c is arranged on the most downstream side of the line L among these three sensors.
  • the second sensor 30b is a sensor disposed downstream of the first sensor 30a and upstream of the third sensor 30c. In this example, it is measured when there is an abnormality in the line L between the location where the first sensor 30a is installed and the location where the second sensor 30b is installed, and the workpiece is misaligned during the conveyance process. Data.
  • the data measured by the first sensor 30a includes first data A1 and second data A2.
  • the first data A1 and the second data A2 are data indicating the passing state of the work, and are ON signals output when the work is within the detection range of the first sensor 30a.
  • the data measured by the second sensor 30b includes first data B1 and second data B2.
  • the first data B1 and the second data B2 are data indicating the passing state of the workpiece, and are ON signals output when the workpiece is within the detection range of the second sensor 30b.
  • the first data B1 measured by the second sensor 30b is delayed by a time T compared to the first data A1 measured by the first sensor 30a.
  • Time T is a value obtained by dividing the distance between the first sensor 30a and the second sensor 30b by the conveying speed of the line L.
  • the second data B2 measured by the second sensor 30b is delayed by a time T + ⁇ compared to the second data A2 measured by the first sensor 30a.
  • the waveform B2a that appears when the second data B2 is measured with a delay of time T is indicated by a broken line.
  • the determination unit 15 calculates the timing at which the workpiece should pass through the detection ranges of the plurality of sensors 30 based on the conveyance speed of the line L and the arrangement of the plurality of sensors 30, and upstream of the line L among the plurality of sensors 30. Based on the comparison between the data measured by the arranged sensors and the data measured at the timing to pass by the sensors arranged downstream of the line L among the plurality of sensors 30, the positional deviation of the workpiece is determined. It's okay. In the case of this example, if the line L is operating normally, the second data A2 measured by the first sensor 30a disposed upstream of the line L and the second sensor 30b disposed downstream of the line L.
  • the second data B ⁇ b> 2 measured by the above should be the same except for the delay of time T corresponding to the sensor installation interval and the conveying speed of the line L.
  • the determination unit 15 takes into account the delay of the time T and measures the second data A2 measured by the first sensor 30a arranged upstream of the line L and the second sensor 30b arranged downstream of the line L. It may be detected that there is a difference by ⁇ from the second data B2, and it is determined that the workpiece is misaligned when ⁇ is equal to or greater than a threshold value.
  • the determination unit 15 measures the data measured by the first sensor 30a arranged upstream of the line L, the data measured by the second sensor 30b arranged downstream of the line L, and these data.
  • the change in the state of the work may be determined based on the learned model 14c generated by machine learning using the learning data including the information indicating the change in the state of the work in the case where it is performed.
  • the determination unit 15 uses the second data A2 measured by the first sensor 30a arranged upstream of the line L and the second data A2 measured by the second sensor 30b arranged downstream of the line L.
  • Data B2 may be input to the learned model 14c, and the displacement of the workpiece may be determined based on the output of the learned model 14c.
  • the output of the learned model 14c may be the probability that the state of the workpiece has changed or the amount of displacement of the workpiece.
  • the data measured by the third sensor 30c includes first data C1 and second data C2.
  • the first data C1 and the second data C2 are data indicating the passing state of the workpiece, and are ON signals output when the workpiece is within the detection range of the third sensor 30c.
  • the first data C1 measured by the third sensor 30c is delayed by the time T as compared with the first data B1 measured by the second sensor 30b.
  • the second data C2 measured by the third sensor 30c is delayed by a time 2T + ⁇ compared to the second data A2 measured by the first sensor 30a.
  • the waveform C2a that appears when the second data C2 is measured with a delay of 2T is indicated by a broken line.
  • the determination unit 15 takes into account the delay of the time T and measures the second data A2 measured by the first sensor 30a arranged upstream of the line L and the third sensor 30c arranged downstream of the line L. It is detected that there is a difference by ⁇ with respect to the second data C2, and when ⁇ is equal to or greater than a threshold value, it may be determined that the work is displaced.
  • the determination unit 15 takes into account the delay of the time T, and the second data B2 measured by the second sensor 30b arranged upstream of the line L and the third sensor 30c arranged downstream of the line L.
  • the determination unit 15 inputs data measured by the first sensor 30a, the second sensor 30b, and the third sensor 30c to the learned model 14c, and changes the state of the workpiece based on the output of the learned model 14c. May be determined.
  • the determination unit 15 determines the location where the first sensor 30a is installed and the second sensor. You may determine with the abnormality in the conveying apparatus of the line L between the locations in which 30b was installed. In addition, when the deviation of the data measured by the third sensor 30c is approximately the same as the deviation of the data measured by the second sensor 30b, the determination unit 15 determines whether the third sensor 30b and the third sensor 30b are installed. It may be determined that there is no abnormality in the conveying device of the line L between the places where the sensor 30c is installed.
  • the determination unit 15 may determine whether or not the operation of each line is unstable by comparing data measured by a plurality of sensors arranged in each line.
  • the determination unit 15 also inputs data measured by a plurality of sensors arranged in a plurality of lines to the learned model 14c, and determines line instability based on the output of the learned model 14c. Good.
  • FIG. 5 is a diagram illustrating a second example of data measured by the sensor system 1 according to the present embodiment.
  • the arrangement of the first sensor 30a, the second sensor 30b, and the third sensor 30c in this example is the same as that of the first example shown in FIG.
  • there is an abnormality in the line L between the location where the first sensor 30a is installed and the location where the second sensor 30b is installed and the workpiece conveyance speed becomes chronically slow, resulting in a flow of the workpiece. Data measured when stagnation occurs is shown.
  • the data measured by the first sensor 30a includes first data A1, third data A3, fourth data A4, fifth data A5 and sixth data A6.
  • the first data A1, the third data A3, the fourth data, the fifth data, and the sixth data A6 are data indicating the passing state of the workpiece, and are output when the workpiece is within the detection range of the first sensor 30a. ON signal.
  • the time from the fall of the third data A3 to the rise of the fourth data A4 is t1
  • the time from the fall of the fourth data A4 to the rise of the fifth data A5 is t2
  • the fifth data The time from the fall of A5 to the rise of the sixth data A6 is t3.
  • the data measured by the second sensor 30b includes first data B1, third data B3, fourth data B4, fifth data B5, and sixth data B6.
  • the first data B1, the third data B3, the fourth data B4, the fifth data B5, and the sixth data B6 are data indicating the passing state of the workpiece, respectively, and the workpiece is within the detection range of the second sensor 30b. Is an ON signal output to.
  • the first data B1 measured by the second sensor 30b is delayed by a time T compared to the first data A1 measured by the first sensor 30a.
  • Time T is a value obtained by dividing the distance between the first sensor 30a and the second sensor 30b by the conveying speed of the line L.
  • the third data B3, the fourth data B4, the fifth data B5, and the sixth data B6 measured by the second sensor 30b are the third data B3, the fourth data B4, and the sixth data B4 measured by the first sensor 30a.
  • the interval between the fall and the rise is short, and it is measured almost continuously. That is, the time from the fall of the third data B3 to the rise of the fourth data B4 is almost zero, the time from the fall of the fourth data B4 to the rise of the fifth data B5 is almost zero, The time from the falling edge of the data B5 to the rising edge of the sixth data B6 is almost zero.
  • the determination unit 15 calculates the timing at which the workpiece should pass through the detection ranges of the plurality of sensors 30 based on the conveyance speed of the line L and the arrangement of the plurality of sensors 30, and upstream of the line L among the plurality of sensors 30. Based on the comparison between the data measured by the arranged sensors and the data measured at the timing to pass by the sensors arranged downstream of the line L among the plurality of sensors 30, the positional deviation of the workpiece is determined. It's okay. In the case of this example, if the line L is operating normally, the third data A3, the fourth data A4, the fifth data A5 and the sixth data measured by the first sensor 30a arranged upstream of the line L.
  • the interval between the fall and rise of A6, and the fall and rise of the third data B3, the fourth data B4, the fifth data B5 and the sixth data B6 measured by the second sensor 30b arranged downstream of the line L The interval between the sensors should be the same except for the delay in time T according to the installation interval of the sensor and the conveying speed of the line L.
  • the determination unit 15 considers the delay of the time T, and is measured by the waveform interval measured by the first sensor 30a disposed upstream of the line L and the second sensor 30b disposed downstream of the line L. If there is a difference in the interval between the measured waveforms, and the difference is equal to or greater than a threshold value, it may be determined that the workpiece is displaced. In addition, the determination unit 15 detects that the intervals between the falling and rising edges of the third data B3, the fourth data B4, the fifth data B5, and the sixth data B6 are almost zero, and the work flow stays. It may be determined that
  • the data measured by the third sensor 30c includes first data C1, third data C3, fourth data C4, fifth data C5, and sixth data C6.
  • the first data C1, the third data C3, the fourth data C4, the fifth data C5, and the sixth data C6 are data indicating the passing state of the workpiece, respectively, and the workpiece is within the detection range of the third sensor 30c. Is an ON signal output to.
  • the first data C1 measured by the third sensor 30c is delayed by the time T as compared with the first data B1 measured by the second sensor 30b.
  • the third data C3, the fourth data C4, the fifth data C5, and the sixth data C6 are the third data B3, the fourth data B4, the fifth data B5, and the sixth data B6 measured by the second sensor 30b.
  • the interval between the falling edge and the rising edge of the waveform is almost 0, indicating that the work is staying.
  • the determination unit 15 determines the location where the first sensor 30a is installed and the second sensor. You may determine with the abnormality in the conveying apparatus of the line L between the locations in which 30b was installed. In addition, when the deviation of the data measured by the third sensor 30c is approximately the same as the deviation of the data measured by the second sensor 30b, the determination unit 15 determines whether the third sensor 30b and the third sensor 30b are installed. It may be determined that there is no abnormality in the conveying device of the line L between the places where the sensor 30c is installed.
  • the determination unit 15 inputs the data measured by the first sensor 30a, the second sensor 30b, and the third sensor 30c to the learned model 14c, and stays in the work flow based on the output of the learned model 14c. It may be determined whether or not the error occurs. In addition, the determination unit 15 inputs data measured by the first sensor 30a, the second sensor 30b, and the third sensor 30c to the learned model 14c, and based on the output of the learned model 14c, the stagnation of the work is performed. You may determine the location of the conveying apparatus with the comparatively high probability of occurring.
  • FIG. 6 is a flowchart of the first process executed by the master unit 10 according to the present embodiment.
  • the master unit 10 acquires data measured by the plurality of sensors 30 from the plurality of slave units 20 (S10). Then, the time measured by the timer 12 is corrected by the correction unit 13 (S11), and the corrected time and sensing data are stored in association with each other (S12).
  • the master unit 10 inputs the data measured by the sensor arranged upstream and the data measured by the sensor arranged downstream to the learned model 14c (S13). Then, the master unit 10 determines the displacement of the workpiece based on the output of the learned model 14c (S14). Note that the master unit 10 does not necessarily have to make a determination using the learned model. Based on the conveyance speed of the line L and the arrangement of the plurality of sensors 30, the workpiece passes through the detection ranges of the plurality of sensors 30. The position of the workpiece is calculated by calculating the shift timing and comparing the difference between the data measured by the sensor arranged upstream and the data measured by the sensor arranged downstream at the timing to pass with a threshold value. The deviation may be determined.
  • the master unit 10 displays the presence / absence of the workpiece displacement and the amount of displacement on the display unit 16 (S15).
  • the master unit 10 may display on the display unit 16 which part of the conveying device of the line L is estimated to be abnormal.
  • work is good also as outputting with a sound.
  • the amount of workpiece positional deviation and the abnormal part of the transfer device may be transmitted to the PLC 40.
  • FIG. 7 is a diagram showing a third example of data measured by the sensor system 1 according to the present embodiment.
  • the arrangement of the first sensor 30a, the second sensor 30b, and the third sensor 30c in this example is the same as that of the first example shown in FIG.
  • This example shows data measured when there is an abnormality in the line L at the place where the second sensor 30b is installed, and the workpiece conveyance speed is temporarily reduced.
  • the data measured by the first sensor 30a includes first data A1 and seventh data A7.
  • the first data A1 and the seventh data A7 are data indicating the passing situation of the workpiece, respectively, and are ON signals output when the workpiece is within the detection range of the first sensor 30a.
  • the ON period of the seventh data A7 is t4.
  • the data measured by the second sensor 30b includes first data B1 and seventh data B7.
  • the first data B1 and the seventh data B7 are data indicating the passing state of the work, and are ON signals output when the work is within the detection range of the second sensor 30b.
  • the first data B1 measured by the second sensor 30b is delayed by a time T compared to the first data A1 measured by the first sensor 30a.
  • Time T is a value obtained by dividing the distance between the first sensor 30a and the second sensor 30b by the conveying speed of the line L.
  • the seventh data B7 measured by the second sensor 30b has an on-period t5, and the on-period is longer than the seventh data A7 measured by the first sensor 30a.
  • the determination unit 15 determines the workpiece conveyance speed. Changes may be determined. In the case of this example, if the line L is operating normally, the ON period t4 of the seventh data A7 measured by the first sensor 30a disposed upstream of the line L and the downstream of the line L are disposed. The on period t5 of the seventh data B7 measured by the second sensor 30b should be equal.
  • the determination unit 15 takes into account the delay of the time T, the ON period of the seventh data A7 measured by the first sensor 30a arranged upstream of the line L, and the second sensor arranged downstream of the line L. When the difference between the ON period of the seventh data B7 measured by 30b is detected and the difference is equal to or greater than the threshold, it may be determined that there is a change in the workpiece conveyance speed.
  • the workpiece conveyance speed is increased. It can be determined whether it has changed.
  • the data measured by the third sensor 30c includes first data C1 and second data C2.
  • the first data C1 and the second data C2 are data indicating the passing state of the workpiece, and are ON signals output when the workpiece is within the detection range of the third sensor 30c.
  • the first data C1 measured by the third sensor 30c is delayed by the time T as compared with the first data B1 measured by the second sensor 30b.
  • the second data C2 measured by the third sensor 30c is delayed by a time 2T + ⁇ compared to the second data A2 measured by the first sensor 30a.
  • the waveform C2a that appears when the second data C2 is measured with a delay of 2T is indicated by a broken line.
  • the on period of the second data C2 measured by the third sensor 30c is t4, which is the same as the on period of the second data A2 measured by the first sensor 30a.
  • t5 t4 + ⁇ .
  • the determination unit 15 takes into account the delay of the time T and measures the second data A2 measured by the first sensor 30a arranged upstream of the line L and the third sensor 30c arranged downstream of the line L. It is detected that there is a difference by ⁇ with respect to the second data C2, and when ⁇ is equal to or greater than a threshold value, it may be determined that the work is displaced.
  • the determination unit 15 is provided with the second sensor 30b. It may be determined that there is an abnormality in the conveying device of the line L at the spot where the error occurs. In addition, the determination unit 15 determines that the on period of the data measured by the third sensor 30c is approximately the same as the on period of the data measured by the first sensor 30a, and the deviation of the data measured by the third sensor 30c.
  • the line L between the location where the second sensor 30b is installed and the location where the third sensor 30c is installed It may be determined that there is no abnormality in the transport apparatus.
  • the determination unit 15 inputs a period during which the workpiece is detected by the first sensor 30a, the second sensor 30b, and the third sensor 30c to the learned model 14c, and transports the workpiece based on the output of the learned model 14c.
  • a change in speed may be determined.
  • the determination unit 15 may determine the amount of change in the workpiece conveyance speed based on the learned model 14c.
  • FIG. 8 is a flowchart of the second process executed by the master unit 10 according to this embodiment.
  • the master unit 10 acquires data measured by the plurality of sensors 30 from the plurality of slave units 20 (S20). Then, the time measured by the timer 12 is corrected by the correction unit 13 (S21), and the corrected time and sensing data are stored in association with each other (S22).
  • the master unit 10 calculates a difference between a period in which the workpiece is detected by the sensor arranged upstream and a period in which the workpiece is detected by the sensor arranged downstream (S23). Then, the master unit 10 determines a change in the workpiece conveyance speed based on the difference between the detection periods (S24). The master unit 10 inputs a period in which the workpiece is detected by the sensor arranged upstream and a period in which the workpiece is detected by the sensor arranged downstream to the learned model, and outputs the learned model as an output. Based on this, the presence or absence of an abnormality regarding the line may be determined.
  • the master unit 10 displays the presence / absence and change amount of the workpiece conveyance speed on the display unit 16 (S25).
  • the master unit 10 may display on the display unit 16 which part of the conveying device of the line L is estimated to be abnormal.
  • work is good also as outputting with a sound.
  • it is good also as transmitting the change and variation
  • FIG. 9 is a diagram showing a fourth example of data measured by the sensor system 1 according to the present embodiment.
  • the arrangement of the first sensor 30a, the second sensor 30b, and the third sensor 30c in this example is the same as that of the first example shown in FIG.
  • the data measured by the first sensor 30a includes first data A1 and second data A2.
  • the first data A1 and the second data A2 are data indicating the passing state of the work, and are ON signals output when the work is within the detection range of the first sensor 30a.
  • the data measured by the second sensor 30b includes the first data B1, and the first data B1 is data indicating the passing state of the workpiece, and is output when the workpiece is within the detection range of the second sensor 30b. ON signal.
  • the first data B1 measured by the second sensor 30b is delayed by a time T compared to the first data A1 measured by the first sensor 30a.
  • Time T is a value obtained by dividing the distance between the first sensor 30a and the second sensor 30b by the conveying speed of the line L.
  • the data measured by the second sensor 30b does not include data corresponding to the second data A2.
  • a waveform B2a that appears when data corresponding to the second data A2 is measured with a delay of time T is indicated by a broken line.
  • the determination unit 15 may determine whether the workpiece is dropped based on the correspondence between the data measured by the sensor arranged upstream of the line L and the data measured by the sensor arranged downstream of the line L. .
  • the second data A2 arranged downstream of the line L corresponding to the second data A2 measured by the first sensor 30a arranged upstream of the line L.
  • the data corresponding to the waveform B2a should be measured by the two sensors 30b.
  • the determination unit 15 takes into account the delay of the time T and measures the second data A2 measured by the first sensor 30a arranged upstream of the line L and the second sensor 30b arranged downstream of the line L.
  • the correspondence relationship with the detected data may be detected, and when the data corresponding to the second data A2 is not measured by the second sensor 30b, it may be determined that the workpiece has dropped out.
  • the removal of the workpiece includes not only the case where the workpiece has fallen from the line L but also the case where the workpiece is conveyed while lying down or being conveyed in an abnormal posture.
  • the workpiece is dropped. Can be determined.
  • the data measured by the third sensor 30c includes the first data C1, and the first data C1 is data indicating the passing state of the workpiece, and is output when the workpiece is within the detection range of the third sensor 30c. ON signal.
  • the first data C1 measured by the third sensor 30c is delayed by the time T as compared with the first data B1 measured by the second sensor 30b.
  • the data measured by the third sensor 30c does not include data corresponding to the second data A2.
  • a waveform C2a that appears when data corresponding to the second data A2 is measured with a delay of time T is indicated by a broken line.
  • the determination unit 15 takes into account the delay of the time T and measures the second data A2 measured by the first sensor 30a arranged upstream of the line L and the third sensor 30c arranged downstream of the line L. It may be determined that the workpiece has dropped out by detecting that the second data C2 does not correspond one-to-one.
  • the determination unit 15 installs the first sensor 30a. It may be determined that the workpiece has dropped between the place where the second sensor 30b is installed and the place where the second sensor 30b is installed. In addition, when the number of ON signals of data measured by the third sensor 30c is equal to the number of ON signals of data measured by the second sensor 30b, the determination unit 15 is a place where the second sensor 30b is installed. It may be determined that there is no abnormality in the conveying device of the line L between the location where the third sensor 30c is installed.
  • the determination unit 15 inputs the period during which the workpiece is detected by the first sensor 30a, the second sensor 30b, and the third sensor 30c to the learned model 14c, and drops the workpiece based on the output of the learned model 14c. May be determined. In that case, the determination unit 15 may determine the location of the line L where the workpiece has dropped out by the learned model 14c.
  • FIG. 10 is a flowchart of the third process executed by the master unit 10 according to this embodiment.
  • the master unit 10 acquires data measured by the plurality of sensors 30 from the plurality of slave units 20 (S30). Then, the time measured by the timer 12 is corrected by the correction unit 13 (S31), and the corrected time and sensing data are stored in association with each other (S32).
  • the master unit 10 identifies the correspondence between the data measured by the sensor arranged upstream and the data measured by the sensor arranged downstream (S33). Then, the master unit 10 determines the removal of the workpiece based on the data correspondence (S34). The master unit 10 inputs data measured by the sensor arranged upstream and data measured by the sensor arranged downstream to the learned model, and based on the output of the learned model, Omission may be determined.
  • the master unit 10 displays on the display unit 16 whether or not the workpiece has been removed (S35).
  • the master unit 10 may display on the display unit 16 which part of the conveying device of the line L is estimated to be abnormal.
  • work omission may be output with a sound, and is good also as transmitting to PLC40.
  • FIG. 11 is a flowchart of the fourth process executed by the master unit 10 according to this embodiment.
  • the process shown in the figure is a process of collecting learning data by the master unit 10 and generating a learned model.
  • the master unit 10 acquires data measured by the plurality of sensors 30 from the plurality of slave units 20 (S40). Then, the time measured by the timer 12 is corrected by the correction unit 13 (S41), and the corrected time and sensing data are stored in association with each other (S42).
  • the master unit 10 generates learning data including data measured by a sensor arranged upstream, data measured by a sensor arranged downstream, and information indicating a change in the state of the workpiece ( S43). And the master unit 10 memorize
  • FIG. 12 is a diagram showing functional blocks of the sensor system 1A according to the first modification of the present embodiment.
  • the master unit 10 does not have a timer, has a trigger transmission unit 18, the first slave unit 20a has a timer 21a, and the second slave unit 20b has a timer 21b.
  • the third slave unit 20c is different from the sensor system 1 in that it includes a timer 21c.
  • the sensor system 1 ⁇ / b> A according to the first modification has the same configuration as the sensor system 1.
  • the trigger transmission unit 18 transmits a trigger signal serving as a time reference to the plurality of slave units 20.
  • the trigger signal may be any signal as long as it becomes a time reference.
  • the plurality of slave units 20 have timers 21a, 21b, and 21c, respectively.
  • the elapsed time after receiving the trigger signal is measured by the timers 21a, 21b, and 21c, and the elapsed time is measured by the plurality of sensors 30. It is transmitted to the master unit 10 together with the data. Then, the storage unit 14 of the master unit 10 stores the elapsed time received from the plurality of slave units 20 in association with the data.
  • the data measured by the plurality of sensors 30 and the information related to the timing at which the data was measured can be stored in association with each other.
  • FIG. 13 is a diagram illustrating functional blocks of a sensor system 1B according to a second modification of the present embodiment.
  • the master unit 10 does not have a timer
  • the first slave unit 20a has a timer 21a
  • the second slave unit 20b has a timer 21b
  • the third slave unit 20c Is different from the sensor system 1 in that it has a timer 21c.
  • the sensor system 1B according to the second modification has the same configuration as the sensor system 1.
  • the plurality of slave units 20 have timers 21 a, 21 b, and 21 c that are synchronized among the plurality of slave units 20, respectively, and the times measured by the timers 21 a, 21 b, and 21 c are mastered together with the data measured by the plurality of sensors 30. Transmit to unit 10.
  • the synchronization of the timers 21a, 21b, and 21c may be performed between the adjacent slave units 20.
  • the storage unit 14 stores the time measured by the timers 21a, 21b, and 21c in association with the data.
  • the processing load on the master unit 10 can be reduced, and the data measured by the plurality of sensors 30 and the information related to the timing at which the data was measured can be stored in association with each other.
  • FIG. 14 is a diagram showing functional blocks of a sensor system 1C according to a third modification of the present embodiment.
  • the sensor system 1C according to the third modification is different from the sensor system 1 in that the master unit 10 does not have a timer and the PLC 40 has a timer 41.
  • the sensor system 1 ⁇ / b> C according to the third modification has the same configuration as the sensor system 1.
  • the master unit 10 has a receiving unit that receives a signal serving as a time reference from an external device.
  • the master unit 10 includes a communication unit 17 that receives a signal serving as a time reference from the PLC 40.
  • the time reference signal may be the time measured by the timer 41 of the PLC 40.
  • the storage unit 14 stores the time calculated based on the signal serving as a time reference and the data measured by the plurality of sensors 30 in association with each other.
  • the data measured by the plurality of sensors 30 and the information related to the timing at which the data is measured can be stored in association with each other without providing timers in the plurality of slave units 20 and the master unit 10.
  • FIG. 15 is a diagram illustrating functional blocks of a sensor system 1D according to a fourth modification of the present embodiment.
  • the sensor system 1D according to the fourth modification is different from the sensor system 1 in that the master unit 10 includes a corresponding unit 19.
  • the sensor system 1D according to the fourth modified example has the same configuration as the sensor system 1.
  • the data measured by the sensor system 1D according to the fourth modified example is time-series data including a rising waveform or a falling waveform corresponding to the passing situation of the workpiece conveyed on the line L.
  • a rising waveform is output as sensing data when the workpiece enters the detection range of the sensor 30, and a falling waveform is output as sensing data when the workpiece leaves the detection range of the sensor 30.
  • Corresponding unit 19 includes two or more slave units for the same workpiece based on the rising waveform interval or the falling waveform interval included in time-series data acquired by two or more slave units among a plurality of slave units 20. Correlate the rising waveform or falling waveform acquired by By associating rising waveforms or falling waveforms acquired by two or more slave units with respect to the same workpiece by the corresponding unit 19, time series data measured by the plurality of sensors 30 can be appropriately compared. It is possible to appropriately determine a change in the state of the workpiece being conveyed.
  • FIG. 16 is a diagram illustrating a fifth example of data measured by the sensor system 1D according to the fourth modification example of the present embodiment.
  • the arrangement of the first sensor 30a, the second sensor 30b, and the third sensor 30c in this example is the same as that of the first example shown in FIG.
  • the conveyance speed of the line L temporarily decreases at the location where the second sensor 30b is installed, and the width of the waveform measured when the workpiece passes through the detection range of the second sensor 30b is the first width. It is wider than the width of the waveform measured when the workpiece passes through the detection range of the sensor 30a and the third sensor 30c.
  • the data measured by the first sensor 30a includes six rectangular waves output when the workpiece passes through the detection range of the first sensor 30a, and includes a rising waveform and a rising waveform, respectively.
  • the six rectangular waves correspond to different works.
  • the rising waveform and the falling waveform are represented by substantially vertical straight lines, but may actually be curved.
  • the correspondence unit 19 includes the rising waveform interval or the falling waveform interval acquired by the first slave unit 20 a among the plurality of slave units 20 and the rising edge acquired by the second slave unit 20 b among the plurality of slave units 20.
  • a falling waveform may be associated.
  • the intervals of the rising waveforms acquired by the first slave unit 20a are TA1, TA2, TA3, TA4, and TA5.
  • the intervals of the rising waveforms acquired by the second slave unit 20b are TB1, TB2, TB3, TB4, TB5, and TB6.
  • the average value of the difference between the rising waveform intervals is
  • the correspondence unit 19 calculates the difference between the rising waveforms or the falling waveforms measured by the two sensors 30 and searches for a combination having a smaller average value.
  • the intervals of the rising waveforms acquired by the third slave unit 20c are TC1, TC2, TC3, TC4, TC5, TC6, and TC6.
  • the average value of the differences between the falling waveform intervals acquired by the first slave unit 20a and the rising waveform intervals acquired by the third slave unit 20c is
  • the conveyance speed of the line L is temporarily decreased or increased. Even in this case, the time series data measured by the two sensors 30 can be appropriately associated.
  • the master unit 10 can also calculate the time for the workpiece to pass between the two sensors 30. In addition, the master unit 10 can display the calculated passing time on the display unit 16 to allow the user to confirm the validity, and thus allow the user to confirm the validity of the association between the rising waveform and the falling waveform. . Furthermore, when the arrangement interval of the two sensors 30 is known, the master unit 10 can calculate the average conveyance speed of the line L and display it on the display unit 16 to allow the user to confirm the validity. .
  • the master unit 10 receives an input of an approximate value of the time required for the workpiece to pass between the two sensors 30 from the user in advance, and the corresponding unit 19 calculates the average value of the difference between the rising waveform and the falling waveform.
  • the combinations to be calculated may be limited, and thereby the calculation load can be reduced.
  • the master unit 10 can also calculate the local conveyance speed of the line L based on the width of the waveform when the same workpiece is measured by the plurality of sensors 30. As a result, for two sensors 30 arranged in order, the time from when the workpiece is detected by the upstream sensor 30 until the workpiece is detected by the downstream sensor 30 can be predicted. It is also possible to calculate the difference between the measured time and the actually measured time.
  • the correspondence unit 19 may associate the rising waveform or the falling waveform with respect to a selected part of the plurality of slave units 20.
  • the corresponding unit 19 associates rising waveforms or falling waveforms with respect to two selected slave units among the first slave unit 20a, the second slave unit 20b, and the third slave unit 20c. May be.
  • association of data that is not necessarily required can be omitted, and the processing load can be reduced.
  • the corresponding unit 19 when the first sensor 30a connected to the first slave unit 20a is arranged upstream of the line L from the second sensor 30b connected to the second slave unit 20b, the corresponding unit 19 The average value of the difference between the rising waveform interval or the falling waveform interval acquired by the first slave unit 20a and the rising waveform interval or the falling waveform interval acquired thereafter by the second slave unit 20b is reduced.
  • the rising waveform or falling waveform acquired by the first slave unit 20a may be associated with the rising waveform or falling waveform acquired by the second slave unit 20b.
  • the corresponding unit 19 uses the rising waveform or the falling waveform measured by the second sensor 30b after the interval of the rising waveform or the falling waveform measured by the first sensor 30a and the timing of the measurement by the first sensor 30a.
  • the rising waveform or the falling waveform acquired by the first slave unit 20a is associated with the rising waveform or the falling waveform acquired by the second slave unit 20b so that the average value of the difference with the interval is reduced. May be.
  • the corresponding unit 19 is (
  • These average values may not be calculated.
  • the corresponding unit 19 is (
  • the calculation load can be reduced.
  • the correspondence unit 19 uses the rising waveform or the falling waveform acquired by the first slave unit 20a from the combinations in which the number of terms for calculating the average value is equal to or greater than the predetermined number, and the second slave unit 20b. You may perform matching with the acquired rising waveform or falling waveform. For example, the corresponding unit 19 obtains the rising waveform or the falling waveform obtained by the first slave unit 20a and the second slave unit 20b from among combinations in which the number of terms for calculating the average value is 3 or more. Correlation with the rising waveform or falling waveform may be performed.
  • the average value of the difference between the rising waveform or the falling waveform measured by the two sensors 30 may be the same for different combinations for calculating the difference. For example, (
  • the corresponding unit 19 acquires the rising waveform or the falling waveform acquired by the first slave unit 20a and the second slave unit 20b so that the number of terms for calculating the average value increases. Correlation with the rising waveform or falling waveform may be performed.
  • FIG. 17 is a flowchart of the fifth process executed by the master unit 10 according to the fourth modification of the present embodiment.
  • the master unit 10 acquires data measured by the plurality of sensors 30 from the plurality of slave units 20 (S50). Then, the time measured by the timer 12 is corrected by the correction unit 13 (S51), and the corrected time and sensing data are stored in association with each other (S52).
  • the master unit 10 calculates the average value of the difference between the rising waveform interval acquired from the upstream first slave unit 20a and the rising waveform interval acquired from the downstream second slave unit 20b thereafter (S53). ).
  • the master unit 10 determines whether or not the combination that minimizes the average value is uniquely determined (S55). When the combination that minimizes the average value is uniquely determined (S55: YES), the master unit 10 associates the rising waveform with the combination that minimizes the average value (S56). On the other hand, when the combination that minimizes the average value is not uniquely determined (S55: NO), the master unit 10 generates the rising waveform by the combination that minimizes the average value and maximizes the number of terms for calculating the average value. Correlate (S57). If the calculated number of terms in the average value is not equal to or greater than the predetermined number (S54: NO), the association may be executed again after waiting for the data to be accumulated.
  • FIG. 18 is a flowchart of the sixth process executed by the master unit 10 according to the fourth modification of the present embodiment.
  • the master unit 10 determines whether there is an abnormality related to the line L (S60).
  • the determination of the presence / absence of abnormality regarding the line L (S60) may be, for example, the first process shown in FIG.
  • the correspondence unit 19 may associate the rising waveform or the falling waveform when the determination unit 15 continues to determine that the state of the workpiece has changed over a predetermined period.
  • a predetermined period S61: NO
  • the determination of the presence or absence of abnormality regarding the line L S60
  • the master unit In step S62, the rising waveform is associated.
  • the rising waveform association is inappropriate, when it is erroneously determined that the line L is abnormal, it is possible to automatically correct the rising waveform association, The state of the line L can be correctly determined.
  • the master unit 10 displays on the display unit 16 that the association process (S62) is being executed (S63). As a result, it is possible to visually tell that the master unit 10 is in a state where it cannot temporarily determine the state of the workpiece.
  • the master unit 10 does not have to execute the determination process by the determination unit 15 while the association process (S62) is being performed.
  • the plurality of slave units 20 may receive data from the plurality of sensors 30. Acquisition may be continued.
  • FIG. 19 is a diagram illustrating a sixth example of data measured by the sensor system 1E according to the fifth modification example of the present embodiment.
  • the sensor system 1E according to the fifth modified example acquires time-series data including a rising waveform or a falling waveform corresponding to the passing situation of the workpiece conveyed on the line L.
  • the data measured by the first sensor 30a indicated by the solid line, the data measured by the second sensor 30b shown in broken lines, the data measured by the second sensor 30b is shifted by T AB data solid Is shown.
  • the sensor system 1E according to the fifth modification of the present embodiment has the same configuration as the sensor system 1.
  • the determination unit 15 is one of the time-series data acquired by the first slave unit 20a among the plurality of slave units 20 and the time-series data acquired by the second slave unit 20b among the plurality of slave units 20. Based on the time difference between the rising waveform or falling waveform acquired by the first slave unit 20a and the rising waveform or falling waveform acquired by the second slave unit 20b. A change in the state of the workpiece may be determined. As shown in FIG. 19, the determination unit 15 uses the second sensor 30b to measure the rising waveform of the data measured by the first sensor 30a and the rising waveform of the data measured by the second sensor 30b. The processed data may be shifted by T AB .
  • the shift amount T AB may be set in advance or may be determined by running a test work on the line L.
  • the determination unit 15 compares the rising timings of the rising waveforms included in the shifted data, and when the timing is shifted or the falling waveforms cannot be correlated, the work state changes. It may be determined that it has occurred.
  • FIG. 20 is a diagram illustrating a seventh example of data measured by the sensor system 1E according to the fifth modification example of the present embodiment.
  • data after the data measured by the second sensor 30b is shifted by TAB is shown.
  • the data is divided into a first section Int1, a second section Int2, a third section Int3, a fourth section Int4, and a fifth section Int5.
  • the determination unit 15 is one of the time-series data acquired by the first slave unit 20a among the plurality of slave units 20 and the time-series data acquired by the second slave unit 20b among the plurality of slave units 20. Are shifted by a predetermined time, and each time series data may be divided into a plurality of sections so that a rising waveform or falling waveform of 1 or less is included. That is, the determination unit 15 may divide the time series data so that one rising waveform or rising waveform is included in one section, or no rising waveform or rising waveform is included. Thereby, time-series data can be compared for each of a plurality of sections, and a change in the state of the workpiece can be determined.
  • each of the first interval Int1, the third interval Int3, and the fifth interval Int5 includes one rising waveform measured by the first sensor 30a and one rising waveform measured by the second sensor 30b.
  • the second interval Int2 and the fourth interval Int4 include neither the rising waveform measured by the first sensor 30a nor the rising waveform measured by the second sensor 30b.
  • the determination unit 15 is based on a time difference (T A ⁇ T B ) between the rising waveform of the data measured by the first sensor 30a included in the third section Int3 and the rising waveform of the data measured by the second sensor 30b. Then, the change of the workpiece state may be determined.
  • the determination unit 15 shifts the data measured by the second sensor 30b by T AB , then the rising waveform timing T A of the data measured by the first sensor 30a included in the third section Int3, and the third section
  • T A -T B the difference between the timing T B of the rising waveform of the data measured by the second sensor 30b included in Int 3
  • the position deviation of the workpiece on the line L is It may be determined that it has occurred. In this way, even when the conveyance speed of the line L temporarily decreases or increases, the time series data measured by the two sensors 30 are appropriately compared, and the data shift is detected. Can be detected.
  • FIG. 21 is a flowchart of the seventh process executed by the master unit 10 according to the fifth modification of the present embodiment.
  • the master unit 10 shifts the data measured by the second sensor 30b for a predetermined time (S70).
  • the master unit 10 shifts other data with reference to one of the data measured by the plurality of sensors 30 so that the rising waveform of the other data matches the rising waveform of the reference data. Also good.
  • the ON number is the number of times that a signal indicating that a workpiece has been detected by the sensor 30 is obtained.
  • the master unit 10 uses the data measured by the first sensor 30a in the section.
  • the determination unit 15 When the first sensor 30a connected to the first slave unit 20a is arranged upstream of the line L from the second sensor 30b connected to the second slave unit 20b, the determination unit 15 When the rising waveform or falling waveform acquired by the second slave unit 20b does not exist with respect to the rising waveform or falling waveform acquired by the unit 20a, it is determined that the workpiece has dropped from the line L. Also good.
  • the master unit 10 determines that the workpiece has dropped (S76), outputs a warning to the outside, and displays that the drop has occurred on the display unit 16. Or thereby, although the workpiece
  • the determination unit 15 When there is no rising waveform or falling waveform acquired by the corresponding first slave unit 20a with respect to the rising waveform or falling waveform acquired by the unit 20b, it is determined that the workpiece has entered the line L. Also good.
  • the master unit 10 determines that the work has been mixed (S78), and outputs a warning to the outside or displays that the mixing has occurred on the display unit 16. Or thereby, although the workpiece
  • the master unit 10 may repeat the process S71 and subsequent steps.
  • FIG. 22 is a diagram illustrating an eighth example of data measured by the sensor system 1E according to the fifth modification example of the present embodiment.
  • data after the data measured by the second sensor 30b is shifted by TAB is shown.
  • the data is divided into a first section Int1, a second section Int2, a third section Int3, a fourth section Int4, and a fifth section Int5.
  • the determination unit 15 acquires the rising waveform or the falling waveform acquired by the first slave unit 20a included in the first interval Int1 among the plurality of intervals and the second slave unit 20b included in the first interval Int1.
  • a first time difference (T A1 ⁇ T B1 ) from the rising waveform or the falling waveform, a rising waveform or a falling waveform acquired by the first slave unit 20a included in the third section Int3 among the plurality of sections, and a third A second time difference (T A2 ⁇ T B2 ) from the rising waveform or the falling waveform acquired by the second slave unit 20b included in the section Int3 is calculated, and the difference between the first time difference and the second time difference
  • the change in the state of the workpiece may be determined based on T B1 ) ⁇ (T A2 ⁇ T B2 )
  • FIG. 23 is a flowchart of the eighth process executed by the master unit 10 according to the fifth modification of the present embodiment.
  • the master unit 10 shifts the data measured by the second sensor 30b for a predetermined time (S90).
  • the master unit 10 shifts other data with reference to one of the data measured by the plurality of sensors 30 so that the rising waveform of the other data matches the rising waveform of the reference data. Also good.
  • ⁇ TH) is determined (S92). If the difference is greater than or equal to the threshold (S92: YES), the master unit 10 determines that the workpiece has a positional deviation (S93), and outputs a warning to the outside or indicates that the positional deviation has occurred in the display unit 16. Or display. On the other hand, if the difference is not greater than or equal to the threshold value (S92: NO), the master unit 10 determines that no positional deviation has occurred in the workpiece (S94).
  • the determination unit 15 When the first sensor 30a connected to the first slave unit 20a is arranged upstream of the line L from the second sensor 30b connected to the second slave unit 20b, the determination unit 15 When the rising waveform or falling waveform acquired by the second slave unit 20b does not exist with respect to the rising waveform or falling waveform acquired by the unit 20a, it is determined that the workpiece has dropped from the line L. Also good.
  • the master unit 10 determines that the work has dropped (S96), outputs a warning to the outside, and displays that the drop has occurred on the display unit 16.
  • work is detected by the sensor 30 arrange
  • positioned downstream of the line L is specified, and the workpiece
  • the determination unit 15 When the first sensor 30a connected to the first slave unit 20a is arranged upstream of the line L from the second sensor 30b connected to the second slave unit 20b, the determination unit 15 When the rising waveform or falling waveform acquired by the corresponding first slave unit 20a does not exist with respect to the rising waveform or falling waveform acquired by the unit 20b, it is determined that the workpiece has entered the line L. Also good.
  • the master unit 10 determines that the work has been mixed (S98), outputs a warning to the outside, or displays that the mixing has occurred on the display unit 16. Or thereby, although the workpiece
  • the master unit 10 may repeat the process S71 and subsequent steps.
  • FIG. 24 is a diagram illustrating a ninth example of data measured by the sensor system 1E according to the fifth modification example of the present embodiment.
  • the determination unit 15 aligns the rising waveform of the data measured by the first sensor 30a with the rising waveform of the data measured by the second sensor 30b, the rising waveform of the data measured by the first sensor 30a, 3 to align the rising waveform of the data measured by the sensor 30c, the data measured by the second sensor 30b is shifted by T AB, the data measured by the third sensor 30c may be shifted by T AC .
  • the shift amounts T AB and T AC may be set in advance, or may be determined by running a test work on the line L.
  • the second rising waveform is obtained by comparing the data measured by the first sensor 30a and the data measured by the second sensor 30b. There is a gap between T A and T B.
  • the second rising waveform is aligned between the data measured by the second sensor 30b and the data measured by the third sensor 30c. That is, the second rising waveform does not match between the data measured by the first sensor 30a and the data measured by the third sensor 30c, and a deviation of T A -T B occurs.
  • the determination unit 15 shifts and compares time-series data acquired by three or more slave units 20 arranged in order along the line L among the plurality of slave units 20 by a predetermined time, and changes the state of the workpiece.
  • the abnormal section of the line may be determined based on the section in which it is determined that the work state has changed. In this example, the determination unit 15 determines that the difference
  • FIG. 25 is a flowchart of a ninth process executed by the master unit 10 according to the fifth modification example of the present embodiment.
  • the master unit 10 the data measured by the second sensor 30b is shifted by a predetermined time T AB (S110), the measured data shifted by AC predetermined time T by the third sensor 30c (S 111) To do.
  • the master unit 10 determines a change in the state of the workpiece from the time difference of the data measured by the second sensor 30b with respect to the data measured by the first sensor 30a (S112), and the data measured by the second sensor 30b.
  • the change in the state of the workpiece is determined from the time difference of the data measured by the third sensor 30c (S113).
  • the processing S112 and S113 may be, for example, the seventh processing illustrated in FIG.
  • the master unit 10 determines the abnormal section of the line L based on the section in which it is determined that the workpiece state has changed. For example, when it is determined that the state of the workpiece has changed by the process S112 and it is determined that the state of the workpiece has not changed by the process S113, the master unit 10 starts the second sensor from the position where the first sensor 30a is disposed. You may determine with abnormality having occurred in the line L in the area to the position where 30b is arrange

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Control Of Conveyors (AREA)

Abstract

La présente invention porte sur un système de capteurs permettant de déterminer un changement d'état d'une pièce à travailler qui s'est produit dans un processus de transport. L'invention concerne un système de capteurs comprenant : une pluralité de capteurs positionnés le long d'une ligne et des données de mesure indiquant qu'une pièce à travailler transportée sur la ligne y est passée ; une pluralité d'unités esclaves respectivement connectées à la pluralité de capteurs et acquérant les données mesurées par la pluralité de capteurs ; et une unité maîtresse connectée à la pluralité d'unités esclaves. L'unité maîtresse comprend : une partie de stockage pour stocker des données associées à des informations relatives au moment où les données ont été mesurées ; et une partie de détermination pour comparer les données transmises à partir d'au moins deux unités esclaves de la pluralité d'unités esclaves à l'aide des informations qui concernent le moment, et déterminer un changement d'état de la pièce à travailler.
PCT/JP2019/017730 2018-05-07 2019-04-25 Système de capteurs WO2019216250A1 (fr)

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CN201980025250.1A CN111971719B (zh) 2018-05-07 2019-04-25 传感器系统
EP19800792.4A EP3792892B1 (fr) 2018-05-07 2019-04-25 Système de capteurs

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JP2018207928A JP7189499B2 (ja) 2018-05-07 2018-11-05 センサシステム
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CA3139637C (fr) * 2019-05-09 2024-02-13 Fuji Tecom Inc. Dispositif de collecte de donnees, systeme d'identification de position de generation de signal, procede de collecte de donnees, procede d'identification de position de generation de signal et programme
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TW201947546A (zh) 2019-12-16
CN111971719A (zh) 2020-11-20
EP3792892A1 (fr) 2021-03-17
US11774464B2 (en) 2023-10-03
CN111971719B (zh) 2022-10-04
EP3792892B1 (fr) 2024-05-01
JP2019196271A (ja) 2019-11-14
US20210018528A1 (en) 2021-01-21
JP7189499B2 (ja) 2022-12-14
EP3792892A4 (fr) 2022-01-12

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